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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	test/capsule_capsule.cpp	Lines:	190	192	99.0 %
Date:	2024-02-09 12:57:42	Branches:	552	1092	50.5 %


/*
 *  Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

/** \author Karsten Knese <Karsten.Knese@googlemail.com> */

#define BOOST_TEST_MODULE FCL_CAPSULE_CAPSULE
#include <boost/test/included/unit_test.hpp>

#define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE((x + 1.0), (1.0), (eps))

#include <cmath>
#include <iostream>
#include <hpp/fcl/distance.h>
#include <hpp/fcl/collision.h>
#include <hpp/fcl/math/transform.h>
#include <hpp/fcl/collision.h>
#include <hpp/fcl/collision_object.h>
#include <hpp/fcl/shape/geometric_shapes.h>

#include "utility.h"

using namespace hpp::fcl;

BOOST_AUTO_TEST_CASE(collision_capsule_capsule_trivial) {
  const double radius = 1.;

  CollisionGeometryPtr_t c1(new Capsule(radius, 0.));
  CollisionGeometryPtr_t c2(new Capsule(radius, 0.));

  CollisionGeometryPtr_t s1(new Sphere(radius));
  CollisionGeometryPtr_t s2(new Sphere(radius));

#ifndef NDEBUG
  int num_tests = 1e3;
#else
  int num_tests = 1e6;
#endif

  Transform3f tf1;
  Transform3f tf2;

  for (int i = 0; i < num_tests; ++i) {
    Eigen::Vector3d p1 = Eigen::Vector3d::Random() * (2. * radius);
    Eigen::Vector3d p2 = Eigen::Vector3d::Random() * (2. * radius);

    Eigen::Matrix3d rot1 =
        Eigen::Quaterniond(Eigen::Vector4d::Random().normalized())
            .toRotationMatrix();
    Eigen::Matrix3d rot2 =
        Eigen::Quaterniond(Eigen::Vector4d::Random().normalized())
            .toRotationMatrix();

    tf1.setTranslation(p1);
    tf1.setRotation(rot1);
    tf2.setTranslation(p2);
    tf2.setRotation(rot2);

    CollisionObject capsule_o1(c1, tf1);
    CollisionObject capsule_o2(c2, tf2);

    CollisionObject sphere_o1(s1, tf1);
    CollisionObject sphere_o2(s2, tf2);

    // Enable computation of nearest points
    CollisionRequest collisionRequest;
    CollisionResult capsule_collisionResult, sphere_collisionResult;

    size_t sphere_num_collisions = collide(
        &sphere_o1, &sphere_o2, collisionRequest, sphere_collisionResult);
    size_t capsule_num_collisions = collide(
        &capsule_o1, &capsule_o2, collisionRequest, capsule_collisionResult);

    BOOST_CHECK_EQUAL(sphere_num_collisions, capsule_num_collisions);
    if (sphere_num_collisions == 0 && capsule_num_collisions == 0)
      BOOST_CHECK_CLOSE(sphere_collisionResult.distance_lower_bound,
                        capsule_collisionResult.distance_lower_bound, 1e-6);
  }
}

BOOST_AUTO_TEST_CASE(collision_capsule_capsule_aligned) {
  const double radius = 0.01;
  const double length = 0.2;

  CollisionGeometryPtr_t c1(new Capsule(radius, length));
  CollisionGeometryPtr_t c2(new Capsule(radius, length));
#ifndef NDEBUG
  int num_tests = 1e3;
#else
  int num_tests = 1e6;
#endif

  Transform3f tf1;
  Transform3f tf2;

  Eigen::Vector3d p1 = Eigen::Vector3d::Zero();
  Eigen::Vector3d p2_no_collision =
      Eigen::Vector3d(0., 0.,
                      2 * (length / 2. + radius) +
                          1e-3);  // because capsule are along the Z axis

  for (int i = 0; i < num_tests; ++i) {
    Eigen::Matrix3d rot =
        Eigen::Quaterniond(Eigen::Vector4d::Random().normalized())
            .toRotationMatrix();

    tf1.setTranslation(p1);
    tf1.setRotation(rot);
    tf2.setTranslation(p2_no_collision);
    tf2.setRotation(rot);

    CollisionObject capsule_o1(c1, tf1);
    CollisionObject capsule_o2(c2, tf2);

    // Enable computation of nearest points
    CollisionRequest collisionRequest;
    CollisionResult capsule_collisionResult;

    size_t capsule_num_collisions = collide(
        &capsule_o1, &capsule_o2, collisionRequest, capsule_collisionResult);

    BOOST_CHECK(capsule_num_collisions == 0);
  }

  Eigen::Vector3d p2_with_collision =
      Eigen::Vector3d(0., 0., std::min(length / 2., radius) * (1. - 1e-2));
  for (int i = 0; i < num_tests; ++i) {
    Eigen::Matrix3d rot =
        Eigen::Quaterniond(Eigen::Vector4d::Random().normalized())
            .toRotationMatrix();

    tf1.setTranslation(p1);
    tf1.setRotation(rot);
    tf2.setTranslation(p2_with_collision);
    tf2.setRotation(rot);

    CollisionObject capsule_o1(c1, tf1);
    CollisionObject capsule_o2(c2, tf2);

    // Enable computation of nearest points
    CollisionRequest collisionRequest;
    CollisionResult capsule_collisionResult;

    size_t capsule_num_collisions = collide(
        &capsule_o1, &capsule_o2, collisionRequest, capsule_collisionResult);

    BOOST_CHECK(capsule_num_collisions > 0);
  }

  p2_no_collision = Eigen::Vector3d(0., 0., 2 * (length / 2. + radius) + 1e-3);

  Transform3f geom1_placement(Eigen::Matrix3d::Identity(),
                              Eigen::Vector3d::Zero());
  Transform3f geom2_placement(Eigen::Matrix3d::Identity(), p2_no_collision);

  for (int i = 0; i < num_tests; ++i) {
    Eigen::Matrix3d rot =
        Eigen::Quaterniond(Eigen::Vector4d::Random().normalized())
            .toRotationMatrix();
    Eigen::Vector3d trans = Eigen::Vector3d::Random();

    Transform3f displacement(rot, trans);
    Transform3f tf1 = displacement * geom1_placement;
    Transform3f tf2 = displacement * geom2_placement;

    CollisionObject capsule_o1(c1, tf1);
    CollisionObject capsule_o2(c2, tf2);

    // Enable computation of nearest points
    CollisionRequest collisionRequest;
    CollisionResult capsule_collisionResult;

    size_t capsule_num_collisions = collide(
        &capsule_o1, &capsule_o2, collisionRequest, capsule_collisionResult);

    BOOST_CHECK(capsule_num_collisions == 0);
  }

  //  p2_with_collision =
  //  Eigen::Vector3d(0.,0.,std::min(length/2.,radius)*(1.-1e-2));
  p2_with_collision = Eigen::Vector3d(0., 0., 0.01);
  geom2_placement.setTranslation(p2_with_collision);

  for (int i = 0; i < num_tests; ++i) {
    Eigen::Matrix3d rot =
        Eigen::Quaterniond(Eigen::Vector4d::Random().normalized())
            .toRotationMatrix();
    Eigen::Vector3d trans = Eigen::Vector3d::Random();

    Transform3f displacement(rot, trans);
    Transform3f tf1 = displacement * geom1_placement;
    Transform3f tf2 = displacement * geom2_placement;

    CollisionObject capsule_o1(c1, tf1);
    CollisionObject capsule_o2(c2, tf2);

    // Enable computation of nearest points
    CollisionRequest collisionRequest;
    CollisionResult capsule_collisionResult;

    size_t capsule_num_collisions = collide(
        &capsule_o1, &capsule_o2, collisionRequest, capsule_collisionResult);

    BOOST_CHECK(capsule_num_collisions > 0);
  }
}

BOOST_AUTO_TEST_CASE(distance_capsulecapsule_origin) {
  CollisionGeometryPtr_t s1(new Capsule(5, 10));
  CollisionGeometryPtr_t s2(new Capsule(5, 10));

  Transform3f tf1;
  Transform3f tf2(Vec3f(20.1, 0, 0));

  CollisionObject o1(s1, tf1);
  CollisionObject o2(s2, tf2);

  // Enable computation of nearest points
  DistanceRequest distanceRequest(true);
  DistanceResult distanceResult;

  distance(&o1, &o2, distanceRequest, distanceResult);

  std::cerr << "Applied translation on two capsules";
  std::cerr << " T1 = " << tf1.getTranslation()
            << ", T2 = " << tf2.getTranslation() << std::endl;
  std::cerr << "Closest points: p1 = " << distanceResult.nearest_points[0]
            << ", p2 = " << distanceResult.nearest_points[1]
            << ", distance = " << distanceResult.min_distance << std::endl;

  BOOST_CHECK_CLOSE(distanceResult.min_distance, 10.1, 1e-6);
}

BOOST_AUTO_TEST_CASE(distance_capsulecapsule_transformXY) {
  CollisionGeometryPtr_t s1(new Capsule(5, 10));
  CollisionGeometryPtr_t s2(new Capsule(5, 10));

  Transform3f tf1;
  Transform3f tf2(Vec3f(20, 20, 0));

  CollisionObject o1(s1, tf1);
  CollisionObject o2(s2, tf2);

  // Enable computation of nearest points
  DistanceRequest distanceRequest(true);
  DistanceResult distanceResult;

  distance(&o1, &o2, distanceRequest, distanceResult);

  std::cerr << "Applied translation on two capsules";
  std::cerr << " T1 = " << tf1.getTranslation()
            << ", T2 = " << tf2.getTranslation() << std::endl;
  std::cerr << "Closest points: p1 = " << distanceResult.nearest_points[0]
            << ", p2 = " << distanceResult.nearest_points[1]
            << ", distance = " << distanceResult.min_distance << std::endl;

  FCL_REAL expected = sqrt(800) - 10;
  BOOST_CHECK_CLOSE(distanceResult.min_distance, expected, 1e-6);
}

BOOST_AUTO_TEST_CASE(distance_capsulecapsule_transformZ) {
  CollisionGeometryPtr_t s1(new Capsule(5, 10));
  CollisionGeometryPtr_t s2(new Capsule(5, 10));

  Transform3f tf1;
  Transform3f tf2(Vec3f(0, 0, 20.1));

  CollisionObject o1(s1, tf1);
  CollisionObject o2(s2, tf2);

  // Enable computation of nearest points
  DistanceRequest distanceRequest(true);
  DistanceResult distanceResult;

  distance(&o1, &o2, distanceRequest, distanceResult);

  std::cerr << "Applied translation on two capsules";
  std::cerr << " T1 = " << tf1.getTranslation()
            << ", T2 = " << tf2.getTranslation() << std::endl;
  std::cerr << "Closest points: p1 = " << distanceResult.nearest_points[0]
            << ", p2 = " << distanceResult.nearest_points[1]
            << ", distance = " << distanceResult.min_distance << std::endl;

  BOOST_CHECK_CLOSE(distanceResult.min_distance, 0.1, 1e-6);
}

BOOST_AUTO_TEST_CASE(distance_capsulecapsule_transformZ2) {
  CollisionGeometryPtr_t s1(new Capsule(5, 10));
  CollisionGeometryPtr_t s2(new Capsule(5, 10));

  Transform3f tf1;
  Transform3f tf2(makeQuat(sqrt(2) / 2, 0, sqrt(2) / 2, 0), Vec3f(0, 0, 25.1));

  CollisionObject o1(s1, tf1);
  CollisionObject o2(s2, tf2);

  // Enable computation of nearest points
  DistanceRequest distanceRequest(true);
  DistanceResult distanceResult;

  distance(&o1, &o2, distanceRequest, distanceResult);

  std::cerr << "Applied rotation and translation on two capsules" << std::endl;
  std::cerr << "R1 = " << tf1.getRotation() << std::endl
            << "T1 = " << tf1.getTranslation().transpose() << std::endl
            << "R2 = " << tf2.getRotation() << std::endl
            << "T2 = " << tf2.getTranslation().transpose() << std::endl;
  std::cerr << "Closest points:" << std::endl
            << "p1 = " << distanceResult.nearest_points[0].transpose()
            << std::endl
            << "p2 = " << distanceResult.nearest_points[1].transpose()
            << std::endl
            << "distance = " << distanceResult.min_distance << std::endl;

  const Vec3f& p1 = distanceResult.nearest_points[0];
  const Vec3f& p2 = distanceResult.nearest_points[1];

  BOOST_CHECK_CLOSE(distanceResult.min_distance, 10.1, 1e-6);
  CHECK_CLOSE_TO_0(p1[0], 1e-4);
  CHECK_CLOSE_TO_0(p1[1], 1e-4);
  BOOST_CHECK_CLOSE(p1[2], 10, 1e-4);
  CHECK_CLOSE_TO_0(p2[0], 1e-4);
  CHECK_CLOSE_TO_0(p2[1], 1e-4);
  BOOST_CHECK_CLOSE(p2[2], 20.1, 1e-4);
}


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			/*
2			* Software License Agreement (BSD License)
3			*
4			* Copyright (c) 2011-2014, Willow Garage, Inc.
5			* Copyright (c) 2014-2015, Open Source Robotics Foundation
6			* All rights reserved.
7			*
8			* Redistribution and use in source and binary forms, with or without
9			* modification, are permitted provided that the following conditions
10			* are met:
11			*
12			* * Redistributions of source code must retain the above copyright
13			* notice, this list of conditions and the following disclaimer.
14			* * Redistributions in binary form must reproduce the above
15			* copyright notice, this list of conditions and the following
16			* disclaimer in the documentation and/or other materials provided
17			* with the distribution.
18			* * Neither the name of Open Source Robotics Foundation nor the names of its
19			* contributors may be used to endorse or promote products derived
20			* from this software without specific prior written permission.
21			*
22			* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23			* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24			* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25			* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26			* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27			* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28			* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29			* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30			* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31			* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32			* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33			* POSSIBILITY OF SUCH DAMAGE.
34			*/
35
36			/** \author Karsten Knese <Karsten.Knese@googlemail.com> */
37
38			#define BOOST_TEST_MODULE FCL_CAPSULE_CAPSULE
39			#include <boost/test/included/unit_test.hpp>
40
41			#define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE((x + 1.0), (1.0), (eps))
42
43			#include <cmath>
44			#include <iostream>
45			#include <hpp/fcl/distance.h>
46			#include <hpp/fcl/collision.h>
47			#include <hpp/fcl/math/transform.h>
48			#include <hpp/fcl/collision.h>
49			#include <hpp/fcl/collision_object.h>
50			#include <hpp/fcl/shape/geometric_shapes.h>
51
52			#include "utility.h"
53
54			using namespace hpp::fcl;
55
56	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(collision_capsule_capsule_trivial) {
57		2	const double radius = 1.;
58
59	✓✗✓✗ ✓✗	4	CollisionGeometryPtr_t c1(new Capsule(radius, 0.));
60	✓✗✓✗ ✓✗	4	CollisionGeometryPtr_t c2(new Capsule(radius, 0.));
61
62	✓✗✓✗ ✓✗	4	CollisionGeometryPtr_t s1(new Sphere(radius));
63	✓✗✓✗ ✓✗	4	CollisionGeometryPtr_t s2(new Sphere(radius));
64
65			#ifndef NDEBUG
66		2	int num_tests = 1e3;
67			#else
68			int num_tests = 1e6;
69			#endif
70
71	✓✗	2	Transform3f tf1;
72	✓✗	2	Transform3f tf2;
73
74	✓✓	2002	for (int i = 0; i < num_tests; ++i) {
75	✓✗✓✗ ✓✗	2000	Eigen::Vector3d p1 = Eigen::Vector3d::Random() * (2. * radius);
76	✓✗✓✗ ✓✗	2000	Eigen::Vector3d p2 = Eigen::Vector3d::Random() * (2. * radius);
77
78			Eigen::Matrix3d rot1 =
79	✓✗✓✗ ✓✗	2000	Eigen::Quaterniond(Eigen::Vector4d::Random().normalized())
80	✓✗	2000	.toRotationMatrix();
81			Eigen::Matrix3d rot2 =
82	✓✗✓✗ ✓✗	2000	Eigen::Quaterniond(Eigen::Vector4d::Random().normalized())
83	✓✗	2000	.toRotationMatrix();
84
85	✓✗	2000	tf1.setTranslation(p1);
86	✓✗	2000	tf1.setRotation(rot1);
87	✓✗	2000	tf2.setTranslation(p2);
88	✓✗	2000	tf2.setRotation(rot2);
89
90	✓✗	4000	CollisionObject capsule_o1(c1, tf1);
91	✓✗	4000	CollisionObject capsule_o2(c2, tf2);
92
93	✓✗	4000	CollisionObject sphere_o1(s1, tf1);
94	✓✗	4000	CollisionObject sphere_o2(s2, tf2);
95
96			// Enable computation of nearest points
97	✓✗	2000	CollisionRequest collisionRequest;
98	✓✗✓✗	4000	CollisionResult capsule_collisionResult, sphere_collisionResult;
99
100	✓✗	2000	size_t sphere_num_collisions = collide(
101		2000	&sphere_o1, &sphere_o2, collisionRequest, sphere_collisionResult);
102	✓✗	2000	size_t capsule_num_collisions = collide(
103		2000	&capsule_o1, &capsule_o2, collisionRequest, capsule_collisionResult);
104
105	✓✗✓✗ ✓✗✓✗ ✗✓	2000	BOOST_CHECK_EQUAL(sphere_num_collisions, capsule_num_collisions);
106	✓✓✓✗	2000	if (sphere_num_collisions == 0 && capsule_num_collisions == 0)
107	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	1466	BOOST_CHECK_CLOSE(sphere_collisionResult.distance_lower_bound,
108			capsule_collisionResult.distance_lower_bound, 1e-6);
109			}
110		2	}
111
112	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(collision_capsule_capsule_aligned) {
113		2	const double radius = 0.01;
114		2	const double length = 0.2;
115
116	✓✗✓✗ ✓✗	4	CollisionGeometryPtr_t c1(new Capsule(radius, length));
117	✓✗✓✗ ✓✗	4	CollisionGeometryPtr_t c2(new Capsule(radius, length));
118			#ifndef NDEBUG
119		2	int num_tests = 1e3;
120			#else
121			int num_tests = 1e6;
122			#endif
123
124	✓✗	2	Transform3f tf1;
125	✓✗	2	Transform3f tf2;
126
127	✓✗✓✗	2	Eigen::Vector3d p1 = Eigen::Vector3d::Zero();
128			Eigen::Vector3d p2_no_collision =
129			Eigen::Vector3d(0., 0.,
130			2 * (length / 2. + radius) +
131	✓✗	2	1e-3); // because capsule are along the Z axis
132
133	✓✓	2002	for (int i = 0; i < num_tests; ++i) {
134			Eigen::Matrix3d rot =
135	✓✗✓✗ ✓✗	2000	Eigen::Quaterniond(Eigen::Vector4d::Random().normalized())
136	✓✗	2000	.toRotationMatrix();
137
138	✓✗	2000	tf1.setTranslation(p1);
139	✓✗	2000	tf1.setRotation(rot);
140	✓✗	2000	tf2.setTranslation(p2_no_collision);
141	✓✗	2000	tf2.setRotation(rot);
142
143	✓✗	4000	CollisionObject capsule_o1(c1, tf1);
144	✓✗	4000	CollisionObject capsule_o2(c2, tf2);
145
146			// Enable computation of nearest points
147	✓✗	2000	CollisionRequest collisionRequest;
148	✓✗	4000	CollisionResult capsule_collisionResult;
149
150	✓✗	2000	size_t capsule_num_collisions = collide(
151			&capsule_o1, &capsule_o2, collisionRequest, capsule_collisionResult);
152
153	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2000	BOOST_CHECK(capsule_num_collisions == 0);
154			}
155
156			Eigen::Vector3d p2_with_collision =
157	✓✗	2	Eigen::Vector3d(0., 0., std::min(length / 2., radius) * (1. - 1e-2));
158	✓✓	2002	for (int i = 0; i < num_tests; ++i) {
159			Eigen::Matrix3d rot =
160	✓✗✓✗ ✓✗	2000	Eigen::Quaterniond(Eigen::Vector4d::Random().normalized())
161	✓✗	2000	.toRotationMatrix();
162
163	✓✗	2000	tf1.setTranslation(p1);
164	✓✗	2000	tf1.setRotation(rot);
165	✓✗	2000	tf2.setTranslation(p2_with_collision);
166	✓✗	2000	tf2.setRotation(rot);
167
168	✓✗	4000	CollisionObject capsule_o1(c1, tf1);
169	✓✗	4000	CollisionObject capsule_o2(c2, tf2);
170
171			// Enable computation of nearest points
172	✓✗	2000	CollisionRequest collisionRequest;
173	✓✗	4000	CollisionResult capsule_collisionResult;
174
175	✓✗	2000	size_t capsule_num_collisions = collide(
176			&capsule_o1, &capsule_o2, collisionRequest, capsule_collisionResult);
177
178	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2000	BOOST_CHECK(capsule_num_collisions > 0);
179			}
180
181	✓✗	2	p2_no_collision = Eigen::Vector3d(0., 0., 2 * (length / 2. + radius) + 1e-3);
182
183	✓✗	2	Transform3f geom1_placement(Eigen::Matrix3d::Identity(),
184	✓✗✓✗	4	Eigen::Vector3d::Zero());
185	✓✗✓✗	2	Transform3f geom2_placement(Eigen::Matrix3d::Identity(), p2_no_collision);
186
187	✓✓	2002	for (int i = 0; i < num_tests; ++i) {
188			Eigen::Matrix3d rot =
189	✓✗✓✗ ✓✗	2000	Eigen::Quaterniond(Eigen::Vector4d::Random().normalized())
190	✓✗	2000	.toRotationMatrix();
191	✓✗✓✗	2000	Eigen::Vector3d trans = Eigen::Vector3d::Random();
192
193	✓✗	2000	Transform3f displacement(rot, trans);
194	✓✗	2000	Transform3f tf1 = displacement * geom1_placement;
195	✓✗	2000	Transform3f tf2 = displacement * geom2_placement;
196
197	✓✗	4000	CollisionObject capsule_o1(c1, tf1);
198	✓✗	4000	CollisionObject capsule_o2(c2, tf2);
199
200			// Enable computation of nearest points
201	✓✗	2000	CollisionRequest collisionRequest;
202	✓✗	4000	CollisionResult capsule_collisionResult;
203
204	✓✗	2000	size_t capsule_num_collisions = collide(
205			&capsule_o1, &capsule_o2, collisionRequest, capsule_collisionResult);
206
207	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2000	BOOST_CHECK(capsule_num_collisions == 0);
208			}
209
210			// p2_with_collision =
211			// Eigen::Vector3d(0.,0.,std::min(length/2.,radius)*(1.-1e-2));
212	✓✗	2	p2_with_collision = Eigen::Vector3d(0., 0., 0.01);
213	✓✗	2	geom2_placement.setTranslation(p2_with_collision);
214
215	✓✓	2002	for (int i = 0; i < num_tests; ++i) {
216			Eigen::Matrix3d rot =
217	✓✗✓✗ ✓✗	2000	Eigen::Quaterniond(Eigen::Vector4d::Random().normalized())
218	✓✗	2000	.toRotationMatrix();
219	✓✗✓✗	2000	Eigen::Vector3d trans = Eigen::Vector3d::Random();
220
221	✓✗	2000	Transform3f displacement(rot, trans);
222	✓✗	2000	Transform3f tf1 = displacement * geom1_placement;
223	✓✗	2000	Transform3f tf2 = displacement * geom2_placement;
224
225	✓✗	4000	CollisionObject capsule_o1(c1, tf1);
226	✓✗	4000	CollisionObject capsule_o2(c2, tf2);
227
228			// Enable computation of nearest points
229	✓✗	2000	CollisionRequest collisionRequest;
230	✓✗	4000	CollisionResult capsule_collisionResult;
231
232	✓✗	2000	size_t capsule_num_collisions = collide(
233			&capsule_o1, &capsule_o2, collisionRequest, capsule_collisionResult);
234
235	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2000	BOOST_CHECK(capsule_num_collisions > 0);
236			}
237		2	}
238
239	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(distance_capsulecapsule_origin) {
240	✓✗✓✗ ✓✗	4	CollisionGeometryPtr_t s1(new Capsule(5, 10));
241	✓✗✓✗ ✓✗	4	CollisionGeometryPtr_t s2(new Capsule(5, 10));
242
243	✓✗	2	Transform3f tf1;
244	✓✗✓✗	2	Transform3f tf2(Vec3f(20.1, 0, 0));
245
246	✓✗	4	CollisionObject o1(s1, tf1);
247	✓✗	4	CollisionObject o2(s2, tf2);
248
249			// Enable computation of nearest points
250	✓✗	2	DistanceRequest distanceRequest(true);
251	✓✗	2	DistanceResult distanceResult;
252
253	✓✗	2	distance(&o1, &o2, distanceRequest, distanceResult);
254
255	✓✗	2	std::cerr << "Applied translation on two capsules";
256	✓✗✓✗	2	std::cerr << " T1 = " << tf1.getTranslation()
257	✓✗✓✗ ✓✗	2	<< ", T2 = " << tf2.getTranslation() << std::endl;
258	✓✗✓✗	2	std::cerr << "Closest points: p1 = " << distanceResult.nearest_points[0]
259	✓✗✓✗	2	<< ", p2 = " << distanceResult.nearest_points[1]
260	✓✗✓✗ ✓✗	2	<< ", distance = " << distanceResult.min_distance << std::endl;
261
262	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK_CLOSE(distanceResult.min_distance, 10.1, 1e-6);
263		2	}
264
265	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(distance_capsulecapsule_transformXY) {
266	✓✗✓✗ ✓✗	4	CollisionGeometryPtr_t s1(new Capsule(5, 10));
267	✓✗✓✗ ✓✗	4	CollisionGeometryPtr_t s2(new Capsule(5, 10));
268
269	✓✗	2	Transform3f tf1;
270	✓✗✓✗	2	Transform3f tf2(Vec3f(20, 20, 0));
271
272	✓✗	4	CollisionObject o1(s1, tf1);
273	✓✗	4	CollisionObject o2(s2, tf2);
274
275			// Enable computation of nearest points
276	✓✗	2	DistanceRequest distanceRequest(true);
277	✓✗	2	DistanceResult distanceResult;
278
279	✓✗	2	distance(&o1, &o2, distanceRequest, distanceResult);
280
281	✓✗	2	std::cerr << "Applied translation on two capsules";
282	✓✗✓✗	2	std::cerr << " T1 = " << tf1.getTranslation()
283	✓✗✓✗ ✓✗	2	<< ", T2 = " << tf2.getTranslation() << std::endl;
284	✓✗✓✗	2	std::cerr << "Closest points: p1 = " << distanceResult.nearest_points[0]
285	✓✗✓✗	2	<< ", p2 = " << distanceResult.nearest_points[1]
286	✓✗✓✗ ✓✗	2	<< ", distance = " << distanceResult.min_distance << std::endl;
287
288		2	FCL_REAL expected = sqrt(800) - 10;
289	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK_CLOSE(distanceResult.min_distance, expected, 1e-6);
290		2	}
291
292	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(distance_capsulecapsule_transformZ) {
293	✓✗✓✗ ✓✗	4	CollisionGeometryPtr_t s1(new Capsule(5, 10));
294	✓✗✓✗ ✓✗	4	CollisionGeometryPtr_t s2(new Capsule(5, 10));
295
296	✓✗	2	Transform3f tf1;
297	✓✗✓✗	2	Transform3f tf2(Vec3f(0, 0, 20.1));
298
299	✓✗	4	CollisionObject o1(s1, tf1);
300	✓✗	4	CollisionObject o2(s2, tf2);
301
302			// Enable computation of nearest points
303	✓✗	2	DistanceRequest distanceRequest(true);
304	✓✗	2	DistanceResult distanceResult;
305
306	✓✗	2	distance(&o1, &o2, distanceRequest, distanceResult);
307
308	✓✗	2	std::cerr << "Applied translation on two capsules";
309	✓✗✓✗	2	std::cerr << " T1 = " << tf1.getTranslation()
310	✓✗✓✗ ✓✗	2	<< ", T2 = " << tf2.getTranslation() << std::endl;
311	✓✗✓✗	2	std::cerr << "Closest points: p1 = " << distanceResult.nearest_points[0]
312	✓✗✓✗	2	<< ", p2 = " << distanceResult.nearest_points[1]
313	✓✗✓✗ ✓✗	2	<< ", distance = " << distanceResult.min_distance << std::endl;
314
315	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK_CLOSE(distanceResult.min_distance, 0.1, 1e-6);
316		2	}
317
318	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(distance_capsulecapsule_transformZ2) {
319	✓✗✓✗ ✓✗	4	CollisionGeometryPtr_t s1(new Capsule(5, 10));
320	✓✗✓✗ ✓✗	4	CollisionGeometryPtr_t s2(new Capsule(5, 10));
321
322	✓✗	2	Transform3f tf1;
323	✓✗✓✗ ✓✗	2	Transform3f tf2(makeQuat(sqrt(2) / 2, 0, sqrt(2) / 2, 0), Vec3f(0, 0, 25.1));
324
325	✓✗	4	CollisionObject o1(s1, tf1);
326	✓✗	4	CollisionObject o2(s2, tf2);
327
328			// Enable computation of nearest points
329	✓✗	2	DistanceRequest distanceRequest(true);
330	✓✗	2	DistanceResult distanceResult;
331
332	✓✗	2	distance(&o1, &o2, distanceRequest, distanceResult);
333
334	✓✗✓✗	2	std::cerr << "Applied rotation and translation on two capsules" << std::endl;
335	✓✗✓✗ ✓✗	2	std::cerr << "R1 = " << tf1.getRotation() << std::endl
336	✓✗✓✗ ✓✗✓✗	2	<< "T1 = " << tf1.getTranslation().transpose() << std::endl
337	✓✗✓✗ ✓✗	2	<< "R2 = " << tf2.getRotation() << std::endl
338	✓✗✓✗ ✓✗✓✗	2	<< "T2 = " << tf2.getTranslation().transpose() << std::endl;
339	✓✗✓✗	2	std::cerr << "Closest points:" << std::endl
340	✓✗✓✗ ✓✗	2	<< "p1 = " << distanceResult.nearest_points[0].transpose()
341	✓✗	2	<< std::endl
342	✓✗✓✗ ✓✗	2	<< "p2 = " << distanceResult.nearest_points[1].transpose()
343	✓✗	2	<< std::endl
344	✓✗✓✗ ✓✗	2	<< "distance = " << distanceResult.min_distance << std::endl;
345
346		2	const Vec3f& p1 = distanceResult.nearest_points[0];
347		2	const Vec3f& p2 = distanceResult.nearest_points[1];
348
349	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK_CLOSE(distanceResult.min_distance, 10.1, 1e-6);
350	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	CHECK_CLOSE_TO_0(p1[0], 1e-4);
351	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	CHECK_CLOSE_TO_0(p1[1], 1e-4);
352	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_CLOSE(p1[2], 10, 1e-4);
353	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	CHECK_CLOSE_TO_0(p2[0], 1e-4);
354	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	CHECK_CLOSE_TO_0(p2[1], 1e-4);
355	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_CLOSE(p2[2], 20.1, 1e-4);
356		2	}